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| author | Holger Steinhaus <holger@steinhaus-home.de> | 2014-11-03 18:47:07 +0100 |
|---|---|---|
| committer | Holger Steinhaus <holger@steinhaus-home.de> | 2014-11-03 20:23:22 +0100 |
| commit | 0800fa4715994921b6a0d15cd2c44b9e51417117 (patch) | |
| tree | 613c7e932a0ebb0dbd1738c504bf3a446ce7916e /src/modules/uavcan | |
| parent | 58f36714f808c9d06527da1952d348201c4f7e72 (diff) | |
| download | px4-firmware-0800fa4715994921b6a0d15cd2c44b9e51417117.tar.gz px4-firmware-0800fa4715994921b6a0d15cd2c44b9e51417117.tar.bz2 px4-firmware-0800fa4715994921b6a0d15cd2c44b9e51417117.zip | |
UAVCAN: implemented motor testing
Diffstat (limited to 'src/modules/uavcan')
| -rw-r--r-- | src/modules/uavcan/actuators/esc.hpp | 1 | ||||
| -rw-r--r-- | src/modules/uavcan/uavcan_main.cpp | 28 | ||||
| -rw-r--r-- | src/modules/uavcan/uavcan_main.hpp | 5 |
3 files changed, 29 insertions, 5 deletions
diff --git a/src/modules/uavcan/actuators/esc.hpp b/src/modules/uavcan/actuators/esc.hpp index ff3ecfb21..12c035542 100644 --- a/src/modules/uavcan/actuators/esc.hpp +++ b/src/modules/uavcan/actuators/esc.hpp @@ -103,7 +103,6 @@ private: * ESC states */ uint32_t _armed_mask = 0; - uavcan::equipment::esc::Status _states[MAX_ESCS]; /* * Perf counters diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp index 59f0f4300..653d4f98c 100644 --- a/src/modules/uavcan/uavcan_main.cpp +++ b/src/modules/uavcan/uavcan_main.cpp @@ -279,6 +279,7 @@ int UavcanNode::run() _output_count = 2; _armed_sub = orb_subscribe(ORB_ID(actuator_armed)); + _test_motor_sub = orb_subscribe(ORB_ID(test_motor)); actuator_outputs_s outputs; memset(&outputs, 0, sizeof(outputs)); @@ -344,7 +345,14 @@ int UavcanNode::run() } // can we mix? - if (controls_updated && (_mixers != nullptr)) { + if (_test_in_progress) { + float outputs[NUM_ACTUATOR_OUTPUTS] = {}; + outputs[_test_motor.motor_number] = _test_motor.value*2.0f-1.0f; + + // Output to the bus + _esc_controller.update_outputs(outputs, NUM_ACTUATOR_OUTPUTS); + } + else if (controls_updated && (_mixers != nullptr)) { // XXX one output group has 8 outputs max, // but this driver could well serve multiple groups. @@ -384,15 +392,27 @@ int UavcanNode::run() } } - // Check arming state + // Check motor test state bool updated = false; + orb_check(_test_motor_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(test_motor), _test_motor_sub, &_test_motor); + + // Update the test status and check that we're not locked down + _test_in_progress = (_test_motor.value > 0); + _esc_controller.arm_single_esc(_test_motor.motor_number, _test_in_progress); + } + + // Check arming state orb_check(_armed_sub, &updated); if (updated) { orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed); - // Update the armed status and check that we're not locked down - bool set_armed = _armed.armed && !_armed.lockdown; + // Update the armed status and check that we're not locked down and motor + // test is not running + bool set_armed = _armed.armed && !_armed.lockdown && !_test_in_progress; arm_actuators(set_armed); } diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp index be7db9741..274321f0d 100644 --- a/src/modules/uavcan/uavcan_main.hpp +++ b/src/modules/uavcan/uavcan_main.hpp @@ -41,6 +41,7 @@ #include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_armed.h> +#include <uORB/topics/test_motor.h> #include "actuators/esc.hpp" #include "sensors/sensor_bridge.hpp" @@ -103,6 +104,10 @@ private: actuator_armed_s _armed; ///< the arming request of the system bool _is_armed = false; ///< the arming status of the actuators on the bus + int _test_motor_sub = -1; ///< uORB subscription of the test_motor status + test_motor_s _test_motor; + bool _test_in_progress = false; + unsigned _output_count = 0; ///< number of actuators currently available static UavcanNode *_instance; ///< singleton pointer |